IOSHeadingTracker3DOF.h

Go to the documentation of this file.

/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_IOS_IOS_HEADING_TRACKER_3_DOF_H
#define META_OCEAN_DEVICES_IOS_IOS_HEADING_TRACKER_3_DOF_H
 
#include "ocean/devices/ios/IOS.h"
#include "ocean/devices/ios/IOSDevice.h"
#include "ocean/devices/ios/MotionManager.h"
 
#include "ocean/devices/OrientationTracker3DOF.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace IOS
{
 
/**
 * This class implements a tracker providing the heading/north direction as 3-DOF orientation.
 * The resulting transformation (3DOF orientation) is defined w.r.t. the device's coordinate system and rotates the negative z-axis so that it points towards true north (the rotated positive z-axis points towards south).
 * @ingroup devicesios
 */
class OCEAN_DEVICES_IOS_EXPORT IOSHeadingTracker3DOF :
    virtual public IOSDevice,
    virtual public OrientationTracker3DOF
{
    friend class IOSFactory;
 
    public:
 
        /**
         * Starts the device.
         * @see Device::start().
         */
        bool start() override;
 
        /**
         * Pauses the device.
         * @see Device::pause().
         */
        bool pause() override;
 
        /**
         * Stops the device.
         * @see Device::stop().
         */
        bool stop() override;
 
        /**
         * Returns the name of this sensor.
         * @return The sensor's name
         */
        static inline std::string deviceNameIOSHeadingTracker3DOF();
 
    protected:
 
        /**
         * Creates a new 3DOF gravity tracker device.
         */
        IOSHeadingTracker3DOF();
 
        /**
         * Destructs a 3DOF gravity sensor device.
         */
        ~IOSHeadingTracker3DOF() override;
 
    private:
 
        /**
         * Callback function for obtaining new samples from the device.
         * @param deviceMotion iOS DeviceMotion readout
         */
        void onDeviceMotion(CMDeviceMotion* deviceMotion);
 
    private:
 
        // Callback id for this tracker.
        MotionManager::ListenerId deviceMotionListenerId_ = MotionManager::invalidListenerId();
 
        /// The object id of this tracker.
        ObjectId trackerObjectId_ = invalidObjectId();
};
 
inline std::string IOSHeadingTracker3DOF::deviceNameIOSHeadingTracker3DOF()
{
    return std::string("IOS 3DOF Heading Tracker");
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_IOS_IOS_HEADING_TRACKER_3_DOF_H